Devices and methods of controlling manipulation of virtual objects on a multi-contact tactile screen

ABSTRACT

A process for controlling computerized equipment with a device including a multi-contact bidimensional sensor that acquires tactile information and a calculator that generates command signals as a function of the tactile information, including graphical objects on a screen placed under a transparent multi-contact tactile sensor, each graphical object associated with at least one specific processing rule such that the sensor delivers during each acquisition phase a plurality of tactile information, and each piece of the tactile information forms an object of a specific processing determined by its localization relative to a position of one of the graphical objects.

RELATED APPLICATION

This is a §371 of International Application No. PCT/FR2005/000428, withan international filing date of Feb. 23, 2005 (WO 2005/091104 A2,published Sep. 29, 2005), which is based on French Patent ApplicationNo. 04/50329, filed Feb. 23, 2004.

TECHNICAL FIELD

The invention relates to musical controllers, particularly to aninterface permitting, e.g., the control of music software or of acontroller by a multi-contact tactile screen with the manipulation ofvirtual objects.

BACKGROUND

Manual-type software controllers are known. They include, e.g.,potentiometers that can be manipulated by the user in the form of aconsole and control the different functions of music software. Such aconsole is disclosed in WO 01/69399.

One disadvantage of this type of controller is that they are not veryergonomic for an efficient manipulation of software. One thought hasbeen to implement a tactile screen for the manipulation of and theaccess to software functions.

In the area of tactile controllers, WO 03/041006 and U.S. Pat. No.6,570,078 disclose musical controllers with tactile control on a matrixsensor. The technologies described therein permit tactile control of themulti-contact type in which all the fingers can intervene for thecontrol of software.

However, those publications do not contemplate a visual return of themanipulations since the different matrix sensors are of the opaque type.

US 2002/005108 discloses a system and a process for controlling in realtime signal processors, synthesizers, musical instruments, MIDIprocessors, lights, video, and special effects during presentations,recordings or in compositional environments using images derived fromtactile sensors, from matrices of pressure sensors, from matrices ofoptical transducers, from matrices of chemical sensors, matrices of bodysensors and from digital processes. That system furnishes touchpads,matrices of pressure sensors and matrices of body sensors as interfacesof tactile control, video cameras and matrices of light sensors such asoptical transducers, matrices of chemical sensors and of otherapparatuses for generating digital images from processes on computers orfrom digital simulations. The tactile transducers can be arranged on thekeys of conventional instruments, attached to existing instruments oralso be used to create new instruments or new controllers. The matricesof chemical sensors and the other apparatuses for generating digitalimages from computer processes or from digital simulations can be usedto observe or simulate natural physical phenomena such as environmentalconditions or self-organizing process behaviors. Scalar matrices orvectors are processed to extract pattern limits, geometric properties ofpixels within limits (geometric center, weighted moments, etc.) andinformation derived from a higher level (direction of rotation,segmented regions, pattern classification, syntax, grammars, sequences,etc.) that are used to create control signals to external video andvisual equipment and for control or even algorithms. It also providesMIDI and non-MIDI control signals.

It does not contemplate a visual return of manipulations and does notmention a command law. Finally, it does not contemplate technicalsolution to the masking phenomena that intervene when several figuresare aligned or placed in an orthogonal manner on the sensor. Theresolution of these problems is indispensable for realizing amulti-contact tactile sensor.

U.S. Pat. No. 5,027,689 discloses an apparatus for generating musicalsounds. That apparatus comprises a device for generating positionalinformation for generating information about the position of musicalinstruments (PS) as values of plane coordinates. This information (PS)is stored in a memory device or determined in a selective manner by amanual operation. The apparatus also comprises a device for theconversion of information for converting the information (PS) intoinformation for controlling parameters of musical sounds (PD). This PDcontrol information controls the source signals of musical sounds (S11,S12 and S13) for generating a sound field corresponding to the positionof musical instruments arranged on a stage. This allows an operator toverify the positions of musical instruments on a stage, thus supplyingthe sensation of being in a true live performance.

It mentions a multi-contact, but it is only two contacts on an axis andnot in Cartesian coordinates. The apparatus only functions linearly forthe multipoint option and does not allow tracking (following oftrajectory). Moreover, the apparatus requires a plurality of sensorsspecific to each of the instruments.

U.S. Pat. No. 5,559,301 discloses a solution of the musical controllertype in the form of a tactile screen with visual return of themanipulated objects. However, it describes predefined objects(essentially of the sliders type and circular potentiometer type). Theseobject types are limiting and can prove to be not very ergonomic forspecial manipulations. Moreover, the acquisition mode described is notin real time. In fact, an icon must first be activated by a firstcontact with a finger, then the manipulated object, and the values areonly updated after the icon has been released. That system does notallow management in real time of the parameters associated with theobject. Finally, the tactile sensor is a “mono-contact” sensor thatpermits the acquisition, e.g., only for a single finger and thereforethe control of a single object at a time. This characteristic is verylimiting for an efficient manipulation of objects.

SUMMARY

This invention relates to a process for controlling computerizedequipment with a device including a multi-contact bidimensional sensorthat acquires tactile information and a calculator that generatescommand signals as a function of the tactile information, includinggenerating graphical objects on a screen placed under a transparentmulti-contact tactile sensor, each graphical object associated with atleast one specific processing rule such that the sensor delivers duringeach acquisition phase a plurality of tactile information, and eachpiece of the tactile information forms an object of a specificprocessing determined by its localization relative to a position of oneof the graphical objects.

This invention also relates to a device for controlling computerizedequipment including a multi-contact bidimensional sensor for acquisitionof tactile information, a viewing screen arranged under thebidimensional tactile sensor, a memory for recording graphical objectsthat are each associated with at least one processing rule, and a localcalculator that analyzes positions of acquired tactile information andapplies a processing rule as a function of the position relative to theposition of the graphical objects.

BRIEF DESCRIPTION OF THE DRAWINGS

The disclosure will be better understood with the aid of the followingdescription given below solely by way of explanation of a selected,representative example with reference made to the attached figures inwhich:

FIG. 1A is a functional diagram of a controller;

FIG. 1B represents the structure of the controller associated with thefunctional diagram;

FIG. 1C represents the functional diagram of the different stages of theprocesses for the acquisition of data coming from the sensor, of thecreation of cursors associated with the different fingers, of theinteraction with the graphical objects and of the generation of controlmessages;

FIG. 2A is a description of the tactile matrix sensor;

FIG. 2B describes the first stage of the scanning functioning of thesensor in order to obtain the multi-contact information;

FIGS. 2C, 2E and 2F explain the resolution of problems of orthogonality;

FIG. 2D is a functional diagram of the capture interface;

FIGS. 3A to 3F are diagrams explaining the stages for the creation ofcursors, filtering, calculation of barycenter, mapping and of thecontrol of graphical objects;

FIGS. 4 and 5 represent different examples of graphical objects;

FIGS. 6 to 10 represent different examples of combinations of graphicalobjects on the controller; and

FIG. 11 illustrates the network use of the controller associated withthe computer of the user.

DETAILED DESCRIPTION

The term “multi-contact” defines a tactile sensor that allowsacquisition of contact zones of several fingers at a time in contrast to“mono-contact” sensors that only allow acquisition for a single fingeror for a stylus as, e.g., in U.S. Pat. No. 5,559,301.

We provide a screen for multi-contact tactile musical control withvisual return of the different actions of the user on parameterableobjects.

We also provide a process for controlling computerized equipment with adevice comprising a multi-contact bidimensional sensor for theacquisition of tactile information as well as calculating meansgenerating command signals as a function of this tactile information,and a stage for generating graphical objects on a screen placed under atransparent multi-contact tactile sensor, each of which graphicalobjects is associated with at least one specific processing law, whereinthe sensor delivers during each acquisition phase a plurality of tactileinformation, and each piece of the tactile information forms the objectof a specific processing determined by its localization relative to theposition of one of these graphical objects.

The process steps may comprise a bounding zone detection of the contactzone of an object with the tactile sensor.

The process may also comprise a barycenter detection.

It may further comprise stages for refreshing graphical objects as afunction of the process carried out during at least one previousacquisition stage.

The process may comprise a stage for editing graphical objects includinggenerating a graphical representation from a library of graphicalcomponents and functions and determining an associated processing law.

The acquisition frequency of the tactile information may be greater than50 Hz.

We also provide a device for controlling a computerized piece ofequipment comprising a multi-contact bidimensional sensor for acquiringtactile information, a viewing screen arranged under the bidimensionaltactile sensor, a memory for recording graphical objects that are eachassociated with at least one processing law, and a local calculator foranalyzing the position of acquired tactile information and applicationof a processing law as a function of the position relative to theposition of the graphical objects.

The device may be connected to a hub (multi-socket network) to form anetwork of controllers.

This multi-contact bidimensional tactile sensor is advantageously aresistive tile.

Furthermore, the device may comprise a network output suitable forreceiving a network cable.

In the following description, the control is performed on a computerizedpiece of equipment that can be, e.g., a music software, a controller,audiovisual equipment or multimedia equipment.

As FIGS. 1A, 1B and 2A illustrate, the first basic element is the matrixsensor 101 necessary for acquisition (multi-contact manipulations) withthe aid of a capture interface 102. The sensor 101 may be divided, ifnecessary, into several parts to accelerate capture, with each partbeing scanned simultaneously.

The general principle is to create as many cursors (such as a mousecursor) as there are zones detected on the sensor and to follow theirdevelopments in time.

When the user removes the user's fingers from the sensor, the associatedcursors are destroyed.

In this manner, the position and development of several fingers arecaptured simultaneously on the sensor. This is a multi-contact capturethat is quite innovative for this type of controller.

The sensor may be a resistive tactile matrix tile of a known type.

Resistive tactile matrix tiles are composed of 2 superposed faces onwhich tracks of ITO (indium tin oxide), that is a translucent conductivematerial, are organized. The tracks are laid out in lines on the upperlayer and in columns on the lower layer and a matrix as shown in FIG.2A.

The two conductive layers are insulated from one another by spacingbraces. The intersection of the line with the column forms a contactpoint. When a finger is placed on the tile, a column or columns situatedon the upper layer are put in contact with a line or line situated onthe lower layer, thus creating one or several contact points as shown inFIG. 2B.

It is possible to replace the braces by a transparent resistive material(e.g., a conductive polymer) whose resistance varies as a function ofthe pressure, which resistance drops if a sufficient pressure force isexerted. In this manner, it is also possible to extract the pressureexerted on the surface by performing a resistance measurement at eachline-column intersection.

As concerns the musical or audiovisual use of these tiles, it isimperative to measure the activity of a finger with a maximum latency of20 ms.

The state of the tile is measured at least 100 times per second, whichtile can be divided into several zones to perform a parallel processingon these zones.

Thus, the sampling frequency of the tile may be at least 100 Hz.

Another basic element is the electronic device for scanning the tactiletile that allows the simultaneous detection of several contact points onthe matrix sensor. In fact, the known methods of acquisitions for thistype of sensor do not allow the detection of several simultaneouscontact points.

The known methods do not allow the problems illustrated in FIG. 2C to besolved.

If a simultaneous measurement of all the lines is performed whilefeeding a column, problems of orthogonality arise. Contact point No. 1will mask contact point No. 2. Likewise, if a line is measured when allthe columns are fed, contact point No. 2 is masked by contact point No.1. The solution for this problem is in performing a sequential scanningof the sensor.

The columns are fed, e.g., at 5V in turn and the level of the lines(high or low level) measured sequentially.

When one of the columns is placed under voltage, the others are in highimpedance to prevent the propagation of current into the latter.

Thus, column 1 is fed at first while the other columns are in highimpedance.

The lines are measured sequentially, that is, one after the other. Thevalue on the first line is read initially while all the other lines areconnected to ground. Then, line 1 is connected to ground and the valueon line 2 is read and so forth until the value of all the lines has beenread.

Column 1 then passes into the high impedance state and column 2 is fed.The reading of the state of each of the lines recommences.

The scanning is performed in this manner up to the last column.

As the goal is to form a multi-contact tile, the total scanning of thematrix is carried out at an elevated frequency to obtain the value ofeach of the intersection points of the tile several times per second.

The device permitting the acquisition of the tile data is illustrated inFIG. 2D, representing the algorithm of the acquisition of a tilecomprising 100 lines (L) and 135 columns (C).

Certain problems in the masking of a point by one or several otherpoints can appear.

In fact, the resistance of the transparent material (ITO) composing thecolumns and the lines increases proportionately to the length of thetracks. Thus, the potential measured at the lower left corner of thesensor will be greater than the potential measured at the upper rightcorner.

In FIGS. 2E and 2F, the cloud of points absorbs a large part of theelectrical potential of the fed column. The potential measured at theisolated point is therefore too low to be detected.

A solution to this problem is in using a voltage comparator piloteddigitally at the output of the line to determine whether the tensionobserved is sufficient for being considered as resulting from the actionof a finger on the tactile tile. The reference value of the comparator(comparison threshold) is decremented at each line measure. Thus, thecomparison values of the last lines are lower than those of the firstlines, which allows the contact point located at the lower left or theupper right to be detected in the same manner.

Thus, e.g., a complete sampling of the tile is performed at least 100times per second for the columns and the lines.

The data from capture interface 102 thus form an image representative ofthe totality of the sensor. This image is placed in memory so that aprogram can proceed to the filtering, the detection of the fingers andto the creation of the cursors as seen in FIG. 1.

The filtering phase illustrated by FIG. 3B eliminates noise that mightbe generated by the acquisition interface or the sensor itself. It isconsidered that only the clouds of several contact points can correspondto the pressure of a finger. Therefore, a bounding zone detection iscarried out to eliminate isolated contact points.

The following stage associates a cursor with each support point (FIG.3C). To this end, the barycenter of each bounding zone is calculated.When a finger is released, the corresponding cursor is freed.

The program executed locally by the main processor allows these cursorsto be associated with graphical objects that are displayed on screen 105to manipulate them. At the same time, the local program uses thesecursors for generating control messages addressed to the host computeror the controlled apparatus.

Furthermore, the program comprises a simulator of the physical modelsallowing modification of the interaction laws between the cursors andthe graphical objects. Different physical models can be employed:spring-loaded system, vibration of a string, management of collisions,the law of gravity, electromagnetic field and the like.

The program considers the positioning of the cursors and on whichgraphical object each is located. A specific processing is supplied tothe data coming from the sensor as a function of the object considered.For example, a pressure measurement (corresponding to a development ofthe spot made by the finger on the tactile tile in a short interval oftime) can be interpreted. Other parameters can be deduced as a functionof the nature of the object: the acceleration, speed, trajectories, etc.Algorithms of recognition of form can also be applied to differentiatedifferent fingers.

The main program 103 also transmits the data to be displayed on screen105 to graphical interface 104. Moreover, this graphical interface isconstituted of a graphical processor. This graphical processor is, e.g.,of a known type. The latter can be constituted of primitive graphicalfunctions allowing, e.g., the displaying of bitmap, fonts of polygonsand figures in 2 and 3 dimensions, vectorial design, antialiasing,texture mapping, transparency and interpolation of colors.

The main program may also comprise an analyzer of mathematicalexpressions that allows mathematical functions to be inputted andcalculated in real time. These functions allow the values of anyvariable to be modified. For example, the coordinates (x, y) of a cursorinside an object can be considered as two variables comprised between 0and 1. The expression analyzer allows an expression of the type“x*1000+600” to be created to obtain a new variable whose value iscomprised between 600 and 1600. The variable obtained allows thecontrol, e.g., of the frequency of an oscillator comprised between 600and 1600 hertz.

The mathematical expressions can be applied to scalar values as well asto vectors.

The expression analyzer is a tool that allows real-time calculations tobe performed on the variables of objects.

Local program 103 also performs a formatting of data in the form ofmessages for network port 106, that communicates it to the computer onwhich the computer applications are performed.

The network interface is, e.g., an Ethernet 10/100 baseT standardinterface that communicates by packets with the protocol TCP/IP. It canalso be a network interface of the wireless type.

It should be noted as illustrated in FIG. 11 that the Ethernetconnection offers the user the possibility, by using a simple hub(multi-socket network), of indefinitely expanding the control apparatusby constituting a network of controllers.

The controller or controllers present in the network then communicateamong themselves and with the host computer in the form of thereciprocal sending of messages.

Furthermore, the unit constituting the machine is fed by a battery (notshown) of a known type or by an AC adapter.

Finally, an interface editor 107 at the level of the computer of theuser allows the interface, that is, the totality of the graphic objectsdisplayed on screen 105, to be programmed in a graphical manner. Theinterfaces may themselves be organized in scenes, that are higherhierarchical structures. In fact, each scene comprises severalinterfaces. The user can interchange the interfaces with the aid of abutton keyboard or a control pedal board connected to input-output port109.

Another function of the interface editor is to assign the control datato the parameters that the user wishes to control.

The user has at the user's disposal, e.g., a library of parameterablegraphical objects allowing the composition of different interfacesaccording to the application desired. FIGS. 4 and 5 represent differentgraphical objects placed at the disposition of the user.

They can be predefined and dedicated quite particularly to music or tothe control of audiovisual equipment or computerized apparatuses. Forexample, a linear potentiometer 403, 404 is particularly adapted tocontrol continuous parameters such as the volume of a sound signal, thefrequency of a filter. A serrated wheel 401 can serve, e.g., to controlthe playing of an audio or video reader. The objects can also be freelydeveloped with a development kit (SDK) of a known type 109. Thedevelopment kit furnishes access to the primitive graphical functions ofthe controller.

Interface editor 107 thus allows the user to readily create personalizedcontrol interfaces. It is a software executed on the user's computer. Itis composed of a main window representing the tactile surface of thetile on which graphical objects from a library of proposed objects canbe placed. The manipulation and placing of objects on the surface areperformed, e.g., with the mouse. The object placed on the window isdisplayed at the same time on the controller and the object is recordedin a memory of the controller. It can subsequently move or re-dimensionthe objects at its convenience.

In addition to the positioning of graphical objects on the main window,other secondary windows allow the regulation of different parametersinherent in the objects (graphical properties, physical behavior). Forexample, a button 402 can also act as a switch or as a trigger. In thecase of the trigger mode, a pressure measurement can optionally beperformed. Another example of a parameterable object is area 2D (503,544) of which the principle includes moving pawns inside a delimitedzone. The number of pawns present in area 2D is a parameterable option.The area can be configured in uniplan mode, a mode in which the pawnsenter into collision with each other, or multi-plan, a mode in which thepawns are placed on distinct superposed planes. Physical parameters canalso be configured: the coefficient of friction of the pawns on theplane, the rebound and the attraction of the pawns on the edges andamong themselves.

The editor also permits the objects present on the surface to be listedand the creation of functions and of variables with the expressionanalyzer.

Thus, the objects have by default a certain number of variables (x, y, z. . . ) corresponding to their primitive axes. These variables arealways comprised between 0 and 1 and vary in the form of 32-bit numberswith floating comma. The user must be able to “connect” these variablesto other values more representative of what he desires to control. Thus,the expression analyzer furnishes the possibility of creating newvariables with the aid of simple mathematical expressions. For example,a rectilinear potentiometer has a primitive axis that is x. If the userwishes to control the frequency of 500 to 2500 Hz he must create avariable a=2000x+500.

Status display options are also desired. They permit a visual control ofthe state of a parameter.

The further treatments to be applied to the objects at the level of themain calculating unit 103 by the manipulation on the tile are specificto each type of object.

In fact, a circular movement of the finger on a virtual linearpotentiometer (403, 404) should not have an effect on the state of thepotentiometer whereas it should modify the state in the case of acircular potentiometer 401. Likewise, certain objects can only take intoaccount a single finger (the linear potentiometer, for example) at atime whereas others can accept the interaction of several fingers(keyboard, area 2D).

For example, the “area 2D” (503, 504) is a rectangular surfacecontaining a certain number of pawns, each with its own position. Thepawns can be moved by the user.

The principle is to put in place a physical system for the totality ofthe objects, that is, e.g., that the pawns moved by the user acquire aspeed of inertia that they retain when the user lets them go; the pawnssubjected in this manner to their own speed will rebound on the edges of“area 2D” and also rebound among themselves. Furthermore, they will besubjected to forces of attraction/repulsion on the edges and on theother pawns as well as to a coefficient of friction on the surface ofarea 2D for stopping the pawns at the end of a certain time. All theseparameters will be parameterable.

Another variant of area 2D includes applying a physical law of the“spring-loaded” type. A virtual rubber band is stretched between eachcursor and each pawn. The user can modify the behavior of this object byconfiguring the friction and the interpolation factor. These propertiescan also be modified in real time with the aid of other objects.

Another example is the “Multislider” 501, a table of cursors whosenumbers can be configured. The typical use is the controlling of agraphic equalizer or of a spectral envelope. The difference between a“multislider” and several simple juxtaposed linear potentiometers isthat the totality of the cursors can be modified in a single touch bysliding the finger. The multislider can also be used as a discretestring. For this, it is sufficient to apply to it the physical model ofa string whose tension is parameterable by the user.

A visualization of different examples of interfaces uniting differenttypes of objects is illustrated by FIGS. 6 to 9, in which severalobjects described above can be observed.

FIG. 6 shows an arrangement of 6 areas 2D (601) containing 1 pawn each.This interface could control, e.g., six different filters assigned toone or several sound sources. In this instance, the abscissa movement ofeach pawn in each zone controls the frequency of the filter whereas theordinate movement controls the quality factor or the width of the filterband.

FIG. 7 shows an example of the control of a synthesizer or of a samplerof a known type. The interface is composed by a tempered keyboard 704controlling the pitch of the sounds, by a group of four verticalpotentiometers 703 allowing the control, e.g., of its dynamic envelope(attack time, hold level, release time). An area 2D (701) containing 3pawns allows the control, e.g., of effects applied to the sound(reverberation, echo, filters). A matrix of 16 buttons 792 can, e.g.,release 16 different recorded musical sequences or also call up 16prerecorded configurations of the previously described controls.

Another example is illustrated by FIG. 8 showing the control of a devicefor the broadcasting of different sound sources into space on a deviceconstituted by several loudspeakers. In this configuration an area 2D(801) representing the broadcasting space contains 4 pawns 801corresponding to four sound sources. Area 2D also contains 5 icons 802representing the position of five loudspeakers. The level and/or thephase of each sound source relative to each enclosed space is regulatedby moving the different pawns 802, which determines its emplacement inthe space. Moreover, a group of four linear potentiometers 803 allowsthe relative level of each source to be regulated. A unit of fourbuttons 804 allows each sound source to be activated or deactivated.

Another example is illustrated in FIG. 9 that shows the control of asynthesizer or a sound generator according to a configuration differentfrom that shown in FIG. 7. Here, the frequency of the sound generator iscontrolled by four virtual strings 903. The initial tension (the pitch)of each string can itself be controlled, e.g., by a linear potentiometer902. An area 2D 10, e.g., control other parameters of the soundgenerator such as the output level, the sound quality, the panning, etc.

FIG. 10 shows the control of equipment for audio and/or video editing ofa known type. A serrated wheel 1001 allows the rate of reading the audioand/or video sources to be controlled. Status display object 1002 allowsthe positioning of the reading to be represented according to a format(hour, minute, second, image) of a known type. A set of buttons 1003allows access to the functions of reading and editing of the controlledapparatus.

The devices and methods described above are by way of example. It isunderstood that one skilled in the art is capable of realizing differentvariants of the devices and methods without departing from the scope ofthe appended claims.

1. A process for controlling computerized equipment with a devicecomprising a multi-contact bidimensional sensor that acquires tactileinformation and a calculator that generates command signals as afunction of the tactile information, comprising: generating graphicalobjects on a screen placed under a transparent multi-contact tactilesensor, each graphical object associated with at least one specificprocessing rule such that the sensor delivers during each acquisitionphase a plurality of tactile information, and each piece of the tactileinformation forms an object of a specific processing determined by itslocalization relative to a position of one of the graphical objects. 2.The process according to claim 1, wherein the device uses a matrixsensor and the process further comprises a sequential scanning stage ofthe sensor.
 3. The process according to claim 1, wherein the specificprocessing comprise abounding zone detection of a contact zone of anobject with the tactile sensor.
 4. The process according to claim 1,wherein the specific processing comprise detection of barycenter.
 5. Theprocess according to claim 1, further comprising stages for refreshinggraphical objects as a function of the specific processing carried outduring at least one previous acquisitions stage.
 6. The processaccording to claim 1, further comprising a stage for editing graphicalobjects including generating a graphical representation from a libraryof graphical components and functions and determining an associatedprocessing rule.
 7. The process according to claim 1, wherein anacquisition frequency of the tactile information is greater than 50hertz.
 8. The process according to claim 1, wherein the devicecommunicates with the computerized equipment via an Ethernet link.
 9. Adevice for controlling computerized equipment comprising: amulti-contact bidimensional sensor for acquisition of tactileinformation; a viewing screen arranged under the bidimensional tactilesensor; a memory for recording graphical objects that are eachassociated with at least one processing rule and a local calculator thatanalyzes positions of acquired tactile information and applies aprocessing rule as a function of the position relative to the positionof the graphical objects.
 10. The device according to claim 9, connectedto a hub for forming a network of controllers.
 11. The device accordingto claim 9, wherein the multi-contact bidimensional tactile sensor is aresistive tile.
 12. The device according to claim 9, further comprisinga network output that receives a network cable.